public static double Test5_Cube8Shuffle(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult, float cubeSize)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(cubeSize);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
PointCloudVertices.ShuffleTest(myPCLSource);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test10_Cube8pRotateShuffle(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult, float cubeSize)
{
myPCLTarget = PointCloudVertices.CreateCube_RegularGrid_Empty(cubeSize, 1);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
Matrix3d R = CreateAndPrintMatrix(65, -123, 35);
PointCloudVertices.Rotate(myPCLSource, R);
PointCloudVertices.ShuffleTest(myPCLSource);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_Cube8TranslateRotateShuffleNew(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult, float cubeSize)
{
myPCLTarget = PointCloudVertices.CreateCube_Corners(cubeSize);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
//Model3D myModel = Example3DModels.Cuboid("Cuboid", 20f, 40f, 100, System.Drawing.Color.White, null);
Matrix3d R = CreateAndPrintMatrix(65, -123, 35);
PointCloudVertices.Rotate(myPCLSource, R);
PointCloudVertices.Translate(myPCLSource, cubeSize * 1.2f, -cubeSize * 2.5f, cubeSize * 2);
PointCloudVertices.ShuffleTest(myPCLSource);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}